Abstract
This paper deals with an autonomous control and a remote control for a fuzzy navigation of an intelligent wheelchair (i.e. an electric wheelchair). This control system has two computers, a host machine set on the wheelchair and a remote machine set on the nurse center. This wheelchair is controlled by the operation commands, such as "turn right", "turn left", and "go straight" that are orders from a remote computer. Also, that is navigated to goals by the fuzzy navigation rule sets implemented on a host computer and autonomously runs toward a target (reference) point. This control system has two algorithms for a navigation control. One is a global navigation control. Other is a local navigation control. The difference in the algorithms is the navigation planning area. Furthermore, we employed a predictive fuzzy driving control. This aim is that an avoidance control is realized by the predictive control. The signals between the local computer (host) and the remote computer are communicated on non-wired broadband.
